ament_add_test(test_error_codes
    GENERATE_RESULT_FOR_RETURN_CODE_ZERO
    COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_error_codes_launch.py"
    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
    TIMEOUT 180
    ENV
      TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
      TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
      TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo.world
      GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
      BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
)
